Rename minLimit/maxLimit to angleAtMin and angleAtMax. Remove unneeded

MSP_SET_SERVO_LIMIT.  Bump MSP API version.  Add basic sanity checks to
MSP_SET_SERVO_CONF, reset all servos and adhere to the msp packet's data
size.

src/main/config/config.c

@@ -483,8 +483,8 @@ static void resetConf(void)
         currentProfile->servoConf[i].max = DEFAULT_SERVO_MAX;
         currentProfile->servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
         currentProfile->servoConf[i].rate = servoRates[i];
-        currentProfile->servoConf[i].minLimit = DEFAULT_SERVO_MIN_LIMIT;
+        currentProfile->servoConf[i].angleAtMin = DEFAULT_SERVO_MIN_ANGLE;
-        currentProfile->servoConf[i].maxLimit = DEFAULT_SERVO_MAX_LIMIT;
+        currentProfile->servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
         currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
     }
 

src/main/flight/mixer.c

@@ -87,8 +87,6 @@ typedef enum {
 #define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
 #define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
 
-#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT
-
 //#define MIXER_DEBUG
 
 uint8_t motorCount = 0;
@@ -484,7 +482,6 @@ void writeServos(void)
         case MIXER_AIRPLANE:
             for (int i = SERVO_PLANE_INDEX_MIN; i <= SERVO_PLANE_INDEX_MAX; i++) {
                 pwmWriteServo(servoIndex++, servo[i]);
-
             }
             break;
 
@@ -504,7 +501,7 @@ void writeServos(void)
         servoIndex += 2;
     }
 
-    // forward AUX1-4 to servo outputs (not constrained)
+    // forward AUX to remaining servo outputs (not constrained)
     if (gimbalConfig->gimbal_flags & GIMBAL_FORWARDAUX) {
         forwardAuxChannelsToServos(servoIndex);
         servoIndex += MAX_AUX_CHANNEL_COUNT;

src/main/flight/mixer.h

@@ -96,9 +96,9 @@ typedef struct servoParam_t {
     int16_t min;                            // servo min
     int16_t max;                            // servo max
     int16_t middle;                         // servo middle
-    int8_t rate;                            // range [-100;+100] ; can be used to ajust a rate 0-100% and a direction
+    int8_t rate;                            // range [-100;+100] ; can be used to adjust a rate 0-100% and a direction
-    int8_t minLimit;                        // range [-90;90] ; can be used to adjust a rate 0-100% and a direction
+    uint8_t angleAtMin;                       // range [0;180] the measured angle in degrees from the middle when the servo is at the 'min' value.
-    int8_t maxLimit;                        // range [-90;90] ; can be used to adjust a rate 0-100% and a direction
+    uint8_t angleAtMax;                       // range [0;180] the measured angle in degrees from the middle when the servo is at the 'max' value.
     int8_t forwardFromChannel;              // RX channel index, 0 based.  See CHANNEL_FORWARDING_DISABLED
 } servoParam_t;
 

src/main/io/serial_cli.c

@@ -889,8 +889,8 @@ static void cliServo(char *cmdline)
                 servo->min,
                 servo->max,
                 servo->middle,
-                servo->minLimit,
+                servo->angleAtMin,
-                servo->maxLimit,
+                servo->angleAtMax,
                 servo->rate,
                 servo->forwardFromChannel
             );
@@ -934,8 +934,8 @@ static void cliServo(char *cmdline)
         servo->min = arguments[1];
         servo->max = arguments[2];
         servo->middle = arguments[3];
-        servo->minLimit = arguments[4];
+        servo->angleAtMin = arguments[4];
-        servo->maxLimit = arguments[5];
+        servo->angleAtMax = arguments[5];
         servo->rate = arguments[6];
         servo->forwardFromChannel = arguments[7];
     }

src/main/io/serial_msp.c

@@ -131,7 +131,7 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
 #define MSP_PROTOCOL_VERSION                0
 
 #define API_VERSION_MAJOR                   1 // increment when major changes are made
-#define API_VERSION_MINOR                   10 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
+#define API_VERSION_MINOR                   11 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
 
 #define API_VERSION_LENGTH                  2
 
@@ -292,7 +292,6 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 #define MSP_SET_SERVO_CONF       212    //in message          Servo settings
 #define MSP_SET_MOTOR            214    //in message          PropBalance function
 #define MSP_SET_NAV_CONFIG       215    //in message          Sets nav config parameters - write to the eeprom
-#define MSP_SET_SERVO_LIMIT      216    //in message          Servo settings limits
 
 // #define MSP_BIND                 240    //in message          no param
 
@@ -835,8 +834,8 @@ static bool processOutCommand(uint8_t cmdMSP)
             serialize16(currentProfile->servoConf[i].max);
             serialize16(currentProfile->servoConf[i].middle);
             serialize8(currentProfile->servoConf[i].rate);
-            serialize8(currentProfile->servoConf[i].minLimit);
+            serialize8(currentProfile->servoConf[i].angleAtMin);
-            serialize8(currentProfile->servoConf[i].maxLimit);
+            serialize8(currentProfile->servoConf[i].angleAtMax);
         }
         break;
     case MSP_CHANNEL_FORWARDING:
@@ -1418,7 +1417,6 @@ static bool processInCommand(void)
             headSerialError(0);
         } else {
             uint8_t servoCount = currentPort->dataSize / SERVO_CHUNK_SIZE;
-
             for (i = 0; i < MAX_SUPPORTED_SERVOS && i < servoCount; i++) {
                 currentProfile->servoConf[i].min = read16();
                 currentProfile->servoConf[i].max = read16();
@@ -1432,16 +1430,10 @@ static bool processInCommand(void)
                     currentProfile->servoConf[i].middle = potentialServoMiddleOrChannelToForward;
                 }
                 currentProfile->servoConf[i].rate = read8();
+                currentProfile->servoConf[i].angleAtMin = read8();
+                currentProfile->servoConf[i].angleAtMax = read8();
             }
         }
-#endif
-        break;
-    case MSP_SET_SERVO_LIMIT:
-#ifdef USE_SERVOS
-        for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
-            currentProfile->servoConf[i].minLimit = read8();
-            currentProfile->servoConf[i].maxLimit = read8();
-        }
 #endif
         break;
     case MSP_SET_CHANNEL_FORWARDING:

src/main/rx/rx.h

@@ -30,8 +30,8 @@
 #define DEFAULT_SERVO_MIN 1000
 #define DEFAULT_SERVO_MIDDLE 1500
 #define DEFAULT_SERVO_MAX 2000
-#define DEFAULT_SERVO_MIN_LIMIT -90
+#define DEFAULT_SERVO_MIN_ANGLE 90
-#define DEFAULT_SERVO_MAX_LIMIT 90
+#define DEFAULT_SERVO_MAX_ANGLE 90
 
 typedef enum {
     SERIAL_RX_FRAME_PENDING = 0,